Systems and methods for generating three dimensional geometry

ABSTRACT

Systems and methods are described for creating three dimensional models of building objects by creating a point cloud from a plurality of input images, defining edges of the building object&#39;s surfaces represented by the point cloud, creating simplified geometries of the building object&#39;s surfaces and constructing a building model based on the simplified geometries. Input images may include ground, orthographic, or oblique images. The resultant model may be scaled according to correlation with select image types and textured.

CROSS-REFERENCE TO RELATED APPLICATIONS/INCORPORATION BY REFERENCE

The present U.S. Utility Patent Application claims priority pursuant to35 U.S.C. § 120 as a continuation of U.S. Utility application Ser. No.17/396,255, entitled “SYSTEMS AND METHODS FOR GENERATING THREEDIMENSIONAL GEOMETRY,” filed on Aug. 6, 2021, which is a continuation ofU.S. Utility application Ser. No. 16/990,453, entitled “SYSTEM ANDMETHOD FOR GENERATING THREE DIMENSIONAL GEOMETRY,” filed Aug. 11, 2020,now U.S. Pat. No. 11,113,877, which is a continuation of U.S. Utilityapplication Ser. No. 15/255,807, entitled “GENERATING MULTI-DIMENSIONALBUILDING MODELS WITH GROUND LEVEL IMAGES,” filed Sep. 2, 2016, now U.S.Pat. No. 10,776,999, which is a continuation of U.S. Utility applicationSer. No. 14/339,127, entitled “GENERATING 3D BUILDING MODELS WITH GROUNDLEVEL AND ORTHOGONAL IMAGES,” filed Jul. 23, 2014, now U.S. Pat. No.9,437,033, which claims priority pursuant to 35 U.S.C. § 119(e) to U.S.Provisional Application No. 61/857,302, entitled “GENERATING 3D BUILDINGMODELS WITH STREET-LEVEL AND ORTHOGONAL IMAGES,” filed Jul. 23, 2013,all of which are hereby incorporated herein by reference in theirentirety and made part of the present U.S. Utility Patent Applicationfor all purposes.

The present Application is related to the following:

1. U.S. Utility application Ser. No. 13/624,816, entitled,“THREE-DIMENSIONAL MAP SYSTEM,” filed on Sep. 21, 2012, now U.S. Pat.No. 8,878,865 and

2. U.S. Utility application Ser. No. 12/265,656, entitled “METHOD ANDSYSTEM FOR GEOMETRY EXTRACTION, 3D VISUALIZATION AND ANALYSIS USINGARBITRARY OBLIQUE IMAGERY,” filed Nov. 5, 2008, now U.S. Pat. No.8,422,825.

Both applications are hereby incorporated herein by reference in theirentirety and made part of the present Application for all purposes.

BACKGROUND Technical Field

The technology described herein relates generally to a system and methodfor generating accurate 3D building models, and in particular to asystem and method for constructing, texturing and retexturing of 3Dbuilding models.

Location-based technologies and mobile technologies are often consideredthe center of the technology revolution of this century. Essential tothese technologies is a way to best present location-based informationto devices, particularly mobile devices. The technology used torepresent this information has traditionally been based on atwo-dimensional (2D) map.

Some efforts have been made to generate three-dimensional (3D) maps ofurban cities with accurate 3D textured models of the buildings viaaerial imagery or specialized camera-equipped vehicles. However, these3D maps have limited texture resolution and geometry quality, areexpensive, time consuming and difficult to update and provide no robustreal-time image data analytics for various consumer and commercial usecases.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 illustrates one embodiment of a system architecture in accordancewith the present disclosure;

FIG. 2 illustrates a graphical overview of the general process foraccurately creating and texturing a 3D building model in accordance withthe present disclosure;

FIG. 3 illustrates a flowchart representing the process for accuratelycreating and texturing a 3D building model in accordance with thepresent disclosure;

FIG. 4 illustrates a diagram of geo-referencing a building location inaccordance with the present disclosure;

FIG. 5 illustrates a diagram of capturing ground-level images of abuilding object in accordance with the present disclosure;

FIG. 6 illustrates an example of collected ground-level images for thefaçade of a building in accordance with the present disclosure;

FIG. 7 illustrates a 3D dense point cloud of a building façade generatedin accordance with the present disclosure;

FIG. 8 illustrates an aspect embodiment for establishing planes in a 3Ddense point cloud in accordance with the present disclosure;

FIG. 9 illustrates an aspect embodiment for correlating selected planesto a 3D dense point cloud in accordance with the present disclosure;

FIG. 10 illustrates an embodiment of the process for creation of the 3Dmodel, scaling and rotating in accordance with the present disclosure;

FIG. 11 illustrates a textured 3D building model in accordance with thepresent disclosure; and

FIG. 12 illustrates a diagrammatic representation of a machine in theexample form of a computer system in accordance with the presentdisclosure.

DETAILED DESCRIPTION

In various embodiments of the technology described herein, a system andmethod is provided for creating and texturing a 3D building model usingground-level and orthogonal imagery. The 3D building model isrepresentative of a physical building in the real-world. In oneembodiment, a 3D building model generation system is provided thattextures a 3D building model corresponding to a plurality uploadedimages. An uploaded image is, for example, a photograph of a physicalbuilding. In other embodiments, the uploaded image includes a façade(side) of the physical building.

FIG. 1 illustrates one embodiment of system architecture in accordancewith the present disclosure. In one embodiment, 3D building modelgeneration system 100 includes image processing system 102 and imagedatabase 104. In other embodiments, orthogonal image database 104 andthe image processing system 102 is coupled via a network channel 106.The image processing system 102 is a computer system for processingimages in preparation for mapping the images to a 3D environment, forexample, the computer system of FIG. 12 .

Network channel 106 is a system for communication. Network channel 106includes, for example, an Ethernet or other wire-based network or awireless NIC (WNIC) or wireless adapter for communicating with awireless network, such as a WI-FI network. In other embodiments, networkchannel 106 includes any suitable network for any suitable communicationinterface. As an example and not by way of limitation, network channel106 can include an ad hoc network, a personal area network (PAN), alocal area network (LAN), a wide area network (WAN), a metropolitan areanetwork (MAN), or one or more portions of the Internet or a combinationof two or more of these. One or more portions of one or more of thesenetworks may be wired or wireless. As another example, network channel106 can be a wireless PAN (WPAN) (such as, for example, a BLUETOOTHWPAN), a WI-FI network, a WI-MAX network, a 3G or 4G network, a cellulartelephone network (such as, for example, a Global System for MobileCommunications (GSM) network).

In one embodiment, network channel 106 uses standard communicationstechnologies and/or protocols. Thus, network channel 106 can includelinks using technologies such as Ethernet, 802.11, worldwideinteroperability for microwave access (WiMAX), 3G, 4G, CDMA, digitalsubscriber line (DSL), etc. Similarly, the networking protocols used onnetwork channel 106 can include multiprotocol label switching (MPLS),the transmission control protocol/Internet protocol (TCP/IP), the UserDatagram Protocol (UDP), the hypertext transport protocol (HTTP), thesimple mail transfer protocol (SMTP), and the file transfer protocol(FTP). In one embodiment, the data exchanged over network channel 106 isrepresented using technologies and/or formats including the hypertextmarkup language (HTML) and the extensible markup language (XML). Inaddition, all or some of links can be encrypted using conventionalencryption technologies such as secure sockets layer (SSL), transportlayer security (TLS), and Internet Protocol security (IPsec).

In another embodiment, image processing system 102 processes the imagescollected and maps them to a specific building. In yet anotherembodiment, the image is also mapped on a particular surface or regionof the building. Capture device(s) 108 is in communication with imageprocessing system 102 for collecting images of building objects. Capturedevices 108 are defined as electronic devices for capturing images. Forexample, the capture devices includes a camera, a phone, a smartphone, atablet, a video camera, a security camera, a closed-circuit televisioncamera, a computer, a laptop, a webcam, wearable camera devices,photosensitive sensors, or any combination thereof.

Three-dimensional building model system 100 also provides for viewerdevice 112 that is defined as a display device. For example, viewerdevice 112 can be a computer with a monitor, a laptop, a touch screendisplay, a LED array, a television set, a projector display, a wearableheads-up display of some sort, or any combination thereof. In oneembodiment, viewer device 112 includes a computer system, such ascomputer system 1100 of FIG. 12 , for processing a 3D environment 110for display.

FIG. 2 illustrates a graphical overview of the general process foraccurately creating and texturing a 3D building model in accordance withthe present disclosure. Process 200 includes collecting a plurality ofground-level images 210 of a façade (or a plurality of façades) of abuilding, generating a 3D dense point cloud 220, processing the 3D densepoint cloud to include use of orthogonal (ortho) images 230, andoutputting a textured 3D building model 240. A third type of informationthat is available to the system is oblique imaging. Oblique imageryincludes images taken at an angle other than the vertical perspective orimages derived from vertical imagery that provide perspective afterprocessing. Oblique images provide a perspective line of sight thatreveals information that is not visible in an orthophoto view. Forexample, an oblique image has an angle to the target between zero andeighty-nine degrees. Oblique images can be captured by aerialphotography or imaging systems, satellite imagery, aerial sensorsystems, ground based imaging systems, video or video capture technologyand similar systems.

FIG. 3 illustrates a flowchart representing the process for creating andaccurately texturing a 3D building model in accordance with the presentdisclosure. Process 300 begins with a collection of a plurality ofground-level images of at least one side of a building object (e.g., thefaçade of a building object) in step 301. In one embodiment, images arecaptured as the picture taker moves around the building—taking aplurality (e.g., 8-16 for an entire building) of images from multipleangles and distances. In one embodiment, ground-level images areuploaded from a capture device such as a smartphone. In someembodiments, the capture devices directly upload images to imageprocessing system 102 via a network channel as illustrated in FIG. 1 .In another embodiment, images are indirectly uploaded to imageprocessing system 102 of FIG. 1 . For example, the images are uploadedto a computer or a server from third party image services (e.g. Flickr,Facebook, Twitter, etc.) first before being uploaded to image processingsystem 102. For another example, the images are transferred from acamera first to a networked computer, and then the images aretransferred to image processing system 102.

Referring again to FIG. 3 , in step 302, a 3D dense point cloud of thebuilding object is created from the plurality of collected ground-levelimages. A point cloud is a set of data points in a coordinate system. Inthe three-dimensional coordinate system of the technology describedherein, these points are defined by X, Y, and Z coordinates, and areintended to represent the external surface of an object. In oneembodiment, key architectural geometric features of the 3D dense pointcloud are identified. Architectural features include, but are notlimited to: roof intersection vertices, ground intersection vertices,bay window vertices, overhanging vertices. In alternative embodiments,the identification of architectural geometric features is performedmanually by a reviewer or semi-automatically/fully automatically bymatching to libraries of known architectural features stored withinmemory in the system of FIG. 1 or stored remotely and accessible by thesystem.

In step 303, the boundaries of one or more planar surfaces are outlinedby determining the vertices/edges of each planar surface. Thevertices/edges of each planar surface can be manually selected ordetermined using known image processing algorithms (described in greaterdetail in FIG. 8-10 discussion). In step 304, for each outlined planarsurface, a plurality of data points (e.g., 3) are selected which arepart of a single planar surface and from the set of data points withinthe 3D dense point cloud. In step 305, repeated correlation of theoutlined planes to data points within the 3D dense point cloud createssimplified façade geometry (planar).

With the planar geometry defined, the ground-level images are used tocreate a textured 3D building model in step 306 using texturingtechniques (e.g., wrapping a ground-level or combination of ground-levelimages around the defined geometry) as described in commonly assignedU.S. Pat. No. 8,422,825 and published US application 2013/0069944 whichare hereby incorporated by reference.

In separate step 307, an orthogonal image for the building object isretrieved using an address, map, or known geo-location (for example fromthe ground level image camera). The orthogonal image is aligned with aplurality of vertices of at least a common planar surface (as will bedescribed in greater detail in association with FIG. 10 ). In oneembodiment, the correlation of the orthogonal image is used to identifyvertices/edges and extract scale, rotation and coordinate informationfor the entire 3D building model. The vertices/edges from ground-level3D dense point cloud and the orthogonal image are correlated to create a3D building model in step 308. In some embodiments, this can also beachieved by recovering the two-dimensional pixel location on ageo-correlated oblique image. The image can be either the orthographicor any of the correlated oblique views.

At the end of steps 301-309, a 3D building model with at least onetextured façade is available for additional processing. For example,steps 301-306 and 308 can optionally be repeated for additional facades.The entire building is constructed in step 309 based on the existinginformation (sets of ground level images per façade, building geometry,façade geometry (textured), scale and geo-position). The roof, in one ormore embodiments, is left untextured (e.g., flat), textured using theretrieved ortho imagery and known height of vertices/edges, or istextured using the ortho imagery and known example roof constructs(e.g., flat, central peak, multi-peak, etc.) stored in a table incomputer memory.

FIG. 4 illustrates a diagram of geo-referencing a building location inaccordance with the present disclosure. In one embodiment, capturedevices include a global positioning system (GPS) for providing locationinformation. The capture device is used to identify a location using theGPS information of a current location. As shown in FIG. 4 , the capturedevice displays map 402 showing its current location 403. In oneembodiment, confirmation of the GPS determined location information isrequired. In an alternative embodiment, the capture device providescamera orientation information (e.g., direction, angle, etc.). In yetanother alternative embodiment, the location of a building is determinedby manually typing in an address or selecting a specific building imageor point on a map.

FIG. 5 illustrates a diagram of capturing ground-level images of abuilding object in accordance with the present disclosure. A pluralityof ground-level images for a façade of building object 501 are collectedby capture device 502. Each ground-level image is taken at a differentperspective relative to the other images of the façade. For example,capture device 502 collects five ground-level images moving fromleft-to-right at a first position, a second position, a third position,a fourth position and a fifth position. For optimal dense point cloudgeneration, each of the images encompasses the entire perimeter of thebuilding (left-to-right, top-to-bottom). The number of ground-levelimages, order taken, and orientation, may be modified without departingfrom the spirit of the technology described herein. However, 3D pointcloud densities generally will increase with the number, quality, andbreadth (capturing many angles) of images used to build the 3D densepoint cloud.

FIG. 6 illustrates an example of collected ground-level images for thefaçade of a building in accordance with the present disclosure.Ground-level images 600 provide for different perspectives of thebuilding façade. Ground-level images 601 to 605 capture the buildingfrom five perspectives panning the entire façade of the building.Ground-level image 601 provides for the left most building façadeperspective relative to the other ground-level images. Ground-levelimage 605 provides for the right most building façade perspectiverelative to the other ground-level images. Ground-level images 602through 604 represent the building façade from three additionalperspectives between ground-level images 601 and 605. Ground-levelimages 600 are collected from the various perspectives, uploaded tosystem 100 used to generate the 3D dense point cloud representing thefaçade of the building.

As previously described, the plurality of ground-level images includethe boundaries of the building façade. For example, a plurality ofground-level images is captured for a building object and includes animage from the perspective defining the far left edge of the façade andan image from the perspective defining the far right edge of the façade.Including the boundaries of the façade in the plurality of ground-levelimages helps define vertices/edges within the 3D dense point cloudscreated by the plurality of ground-level images. In alternativeembodiments, the plurality of ground-level images captured for thebuilding object are not required to include the boundaries of the façadein order generate the 3D dense point cloud. In yet another embodiment,multiple facades are captured in a single image which includes theboundary vertices (corner).

In yet another embodiment, a plurality of ground-level images arecollected for each side and/or corner of the building (the first side ofthe building, typically the front façade of the building). For example,when a building is part of a larger collection of buildings (i.e., atownhome, a store in a strip mall, etc.) not all sides of the buildingare accessible for ground-level images as at least one side is sharedwith an adjacent building. For stand-alone building objects, a pluralityof ground-level images is collected for each side and/or corner of thebuilding object. For example, a single family home generally has 4facades (i.e., first side (front façade), back side and left/rightsides) and a plurality of ground-level images collected for each sideand/or corner would result in a 3D building model of the single familyhome having each side accurately textured.

FIG. 7 illustrates a 3D dense point cloud of a building façade generatedin accordance with the present disclosure. The plurality of ground-levelimages collected for the building façade (FIG. 6 ) is used toextrapolate a dense 3D point cloud of the building object. In theexample embodiment, five ground-level images of the façade were used togenerate an accurate 3D dense point cloud representative of thatbuilding façade. In another example embodiment, multiple sets of fiveground-level images, one for each side, are used to generate an accurate3D point cloud representative of the entire building object. Thestereo-view of the building created by a plurality of ground-levelimages collected from the different perspectives allows for a 3D densepoint cloud to depict architectural features of the correspondingbuilding façade. For example, 3D dense point cloud 701 was generatedusing a plurality of ground-level images of the façade of the buildingcaptured from different perspectives. 3D dense point cloud 701 providesfor potential identification of architectural features such as roofintersections 702 and 703 with the facade and wall edges 704 and 705.

FIG. 8 illustrates an aspect embodiment for establishing planes (e.g.,large planes) for a 3D dense point cloud in accordance with the presentdisclosure. In one embodiment, 3D dense point cloud 701 (FIG. 7 )provides for distinguishing planes of the building façade. For example,a roof plane is distinguishable from a façade plane and parallel planesare distinguishable from one another. The planar surface is firstdefined (outlined) by selecting a plurality of vertices of a selectedplanar surface from at least one of the plurality of ground-level images(FIG. 6 ). The planar surface is defined by selecting vertices 802, 803,804, 805, 806, 807, 808 and 809 thus defining large plane 801 of theimage. In a next process, described in more detail with respect to FIG.9 , a plurality of data points 810 are selected from the outlined planeto link the outlined plane to the 3D dense point cloud.

FIG. 9 illustrates an aspect embodiment for correlating selected planesto a 3D dense point cloud in accordance with the present disclosure. Aspreviously discussed, 3D point cloud (901) includes data pointsgenerated from a plurality of ground-level images collected fromdifferent perspectives of the capture device relative to the façade ofthe building. To link the outlined planes as described with respect toFIG. 8 , a plurality (e.g., 3) of data points 902, 903 and 904 areselected following the plane outline steps and correlated to data pointsin 3D dense point cloud 901 to determine planar surface 905 of building906. The selected data points should correspond to a single plane ofbuilding 906. In various embodiments, the selection of the plurality ofdata points is performed manually, semi-automatically or fullyautomatically.

In one embodiment, a 3D proximity buffer is applied to the selected datapoints to determine the planar surface and identify those data points inthe 3D dense point cloud that are in close proximity to a region aroundeach of the selected data points. For example, when selecting a datapoint to correlate an outlined plane to the 3D dense point cloud, theclosest actual 3D dense point cloud data point to the selected region isused as the data point to determine the planar surface. The data pointsare averaged to find an average planar fit and determine the planarsurface and the 3D building plane position alignment is adjusted. Inanother embodiment, random sample consensus (RANSAC) is used todetermine the 3D proximity buffer that is applied to the data points forthe determination of the planar surface. Once planes are correlated, thefaçade is textured by applying one or more of the ground-level images tothe defined geometry (i.e., planes).

FIG. 10 illustrates an embodiment of the process for creation of the 3Dmodel, scaling and rotating in accordance with the present disclosure.Once a single textured façade (representing any side) has been created,an orthogonal image (from overhead) is used to complete the 3D model,provide scale (size) and proper rotation of the 3D model. In oneembodiment, rooftop lines of a corresponding building object within anorthogonal image (as selected by address, from a map or geo-referenceddata, etc.) are determined by identifying vertices/edges. Orthogonalimages and inherent building geometry vertices/edge for building objectsprovide a more accurate scale (as the scale in the ortho image is known(e.g. 6 inches per pixel)). In addition, proper rotation and locationinformation can be determined by correlation of the textured façade withthe ortho image of the same building object.

Referring to FIG. 10 , textured façade 1001 is provided with a definedplanar surface established by at least selected vertices 1002, 1003,1004 and 1005 (e.g., four corners of the front of the building).Orthogonal image 1006 of the corresponding building object (looking downon the top of the building) is retrieved and the vertices/edges of thefront edge of the building in the orthogonal image are identified andcorrelated to selected vertices 1002 through 1005 of the textured frontfaçade 1001 (from FIG. 9 ). Vertex 1007 is selected to correlate toselected vertices 1004 and 1005 and vertex 1008 is selected to correlateto selected vertices 1002 and 1003. Identifying these vertices as beingpart of the same planar surface correlates the two images with thetextured façade then incorporating the scale of the correlated orthoimage. Once, the front façade of the building object has beencorrelated, the selection of the other vertices (e.g., 1009 and 1010) inthe ortho image establishes the remaining perimeter of the buildingobject (depth and width from ortho and height from the façade) which isthen used to create the 3D building model as shown in FIG. 11 (with atleast one side textured). The process (i.e., ground-levelimages-to-textured façade) can then be repeated to texture the sides orback of the established 3D model. Also, as new ground-level imagesbecome available, the facades can be retextured and thus updated usingthe façade texturing process of the technology described herein. In oneembodiment, orthogonal image 1006 is retrieved from image database 104of FIG. 1 .

The correlation of 3D building model 1001 with orthogonal image 1006provides a more accurate scale as well as providing a precise locationaccording to the world coordinate system of 3D building model 1001.

In an alternative embodiment, the scaling of the 3D model is performedby correlation with known industry standard architectural features. Forexample, the distance from the front door sill to doorknob center istypically the same from building to building (e.g., 36 inches). Otherknown features include, but are not limited to, siding width, bricksizes, door and or window sizes. In another embodiment, known ratios ofarchitectural features are used to scale the 3D model. For example, theheight-to-width ratios for various door and window sizes are known.First, it is determined that known architectural features exist withinone or more facades. Second, the known real-world sizing/ratios arecorrelated with the same features within the model. Scaling adjustmentsare made with a scaling factor (e.g., 1.03 percent scaling factor). The3D model can then be scaled (sized) using the scaling factor.

FIG. 11 illustrates a textured 3D building model in accordance with thepresent disclosure. 3D building model 1100 is provided with accuratescaling, rotation and location information for ground-level façadetextured geometry. 3D building model 1100 is reconstructed based on thegathered/existing information such as building geometry, façade geometry(textured), scale and geo-position. A reconstructed textured 3D buildingmodel is provided with current and accurate details.

Referring now to FIG. 12 , therein is shown a diagrammaticrepresentation of a machine in the example form of a computer system1200 within which a set of instructions, for causing the machine toperform any one or more of the methodologies or modules discussedherein, may be executed. Computer system 1200 includes a processor,memory, non-volatile memory, and an interface device. Various commoncomponents (e.g., cache memory) are omitted for illustrative simplicity.The computer system 1200 is intended to illustrate a hardware device onwhich any of the components depicted in the example of FIG. 1 (and anyother components described in this specification) can be implemented.The computer system 1200 can be of any applicable known or convenienttype. The components of the computer system 1200 can be coupled togethervia a bus or through some other known or convenient device.

This disclosure contemplates the computer system 1200 taking anysuitable physical form. As example and not by way of limitation,computer system 1200 may be an embedded computer system, asystem-on-chip (SOC), a single-board computer system (SBC) (such as, forexample, a computer-on-module (COM) or system-on-module (SOM)), adesktop computer system, a laptop or notebook computer system, aninteractive kiosk, a mainframe, a mesh of computer systems, a mobiletelephone, a personal digital assistant (PDA), a server, or acombination of two or more of these. Where appropriate, computer system1200 may include one or more computer systems 1200; be unitary ordistributed; span multiple locations; span multiple machines; or residein a cloud, which may include one or more cloud components in one ormore networks. Where appropriate, one or more computer systems 1200 mayperform without substantial spatial or temporal limitation one or moresteps of one or more methods described or illustrated herein. As anexample and not by way of limitation, one or more computer systems 1200may perform in real time or in batch mode one or more steps of one ormore methods described or illustrated herein. One or more computersystems 1200 may perform at different times or at different locationsone or more steps of one or more methods described or illustratedherein, where appropriate.

The processor may be, for example, a conventional microprocessor such asan Intel Pentium microprocessor or Motorola power PC microprocessor. Oneof skill in the relevant art will recognize that the terms“machine-readable (storage) medium” or “computer-readable (storage)medium” include any type of device that is accessible by the processor.

The memory is coupled to the processor by, for example, a bus. Thememory can include, by way of example but not limitation, random accessmemory (RAM), such as dynamic RAM (DRAM) and static RAM (SRAM). Thememory can be local, remote, or distributed.

The bus also couples the processor to the non-volatile memory and driveunit. The non-volatile memory is often a magnetic floppy or hard disk, amagnetic-optical disk, an optical disk, a read-only memory (ROM), suchas a CD-ROM, EPROM, or EEPROM, a magnetic or optical card, or anotherform of storage for large amounts of data. Some of this data is oftenwritten, by a direct memory access process, into memory during executionof software in the computer 1200. The non-volatile storage can be local,remote, or distributed. The non-volatile memory is optional becausesystems can be created with all applicable data available in memory. Atypical computer system will usually include at least a processor,memory, and a device (e.g., a bus) coupling the memory to the processor.

Software is typically stored in the non-volatile memory and/or the driveunit. Indeed, for large programs, it may not even be possible to storethe entire program in the memory. Nevertheless, it should be understoodthat for software to run, if necessary, it is moved to a computerreadable location appropriate for processing, and for illustrativepurposes, that location is referred to as the memory in this paper. Evenwhen software is moved to the memory for execution, the processor willtypically make use of hardware registers to store values associated withthe software, and local cache that, ideally, serves to speed upexecution. As used herein, a software program is assumed to be stored atany known or convenient location (from non-volatile storage to hardwareregisters) when the software program is referred to as “implemented in acomputer-readable medium.” A processor is considered to be “configuredto execute a program” when at least one value associated with theprogram is stored in a register readable by the processor.

The bus also couples the processor to the network interface device. Theinterface can include one or more of a modem or network interface. Itwill be appreciated that a modem or network interface can be consideredto be part of the computer system 1200. The interface can include ananalog modem, isdn modem, cable modem, token ring interface, satellitetransmission interface (e.g., “direct PC”), or other interfaces forcoupling a computer system to other computer systems. The interface caninclude one or more input and/or output devices. The I/O devices caninclude, by way of example but not limitation, a keyboard, a mouse orother pointing device, disk drives, printers, a scanner, and other inputand/or output devices, including a display device. The display devicecan include, by way of example but not limitation, a cathode ray tube(CRT), liquid crystal display (LCD), or some other applicable known orconvenient display device. For simplicity, it is assumed thatcontrollers of any devices not depicted reside in the interface.

In operation, the computer system 1200 can be controlled by operatingsystem software that includes a file management system, such as a diskoperating system. One example of operating system software withassociated file management system software is the family of operatingsystems known as Windows® from Microsoft Corporation of Redmond, Wash.,and their associated file management systems. Another example ofoperating system software with its associated file management systemsoftware is the Linux™ operating system and its associated filemanagement system. The file management system is typically stored in thenon-volatile memory and/or drive unit and causes the processor toexecute the various acts required by the operating system to input andoutput data and to store data in the memory, including storing files onthe non-volatile memory and/or drive unit.

The technology as described herein may have also been described, atleast in part, in terms of one or more embodiments. An embodiment of thetechnology as described herein is used herein to illustrate an aspectthereof, a feature thereof, a concept thereof, and/or an examplethereof. A physical embodiment of an apparatus, an article ofmanufacture, a machine, and/or of a process that embodies the technologydescribed herein may include one or more of the aspects, features,concepts, examples, etc. described with reference to one or more of theembodiments discussed herein. Further, from figure to figure, theembodiments may incorporate the same or similarly named functions,steps, modules, etc. that may use the same or different referencenumbers and, as such, the functions, steps, modules, etc. may be thesame or similar functions, steps, modules, etc. or different ones.

While particular combinations of various functions and features of thetechnology as described herein have been expressly described herein,other combinations of these features and functions are likewisepossible. For example, the steps may be completed in varied sequences tocomplete the textured facades. The technology as described herein is notlimited by the particular examples disclosed herein and expresslyincorporates these other combinations.

What is claimed:
 1. One or more non-transitory computer readable mediumstoring instructions that, when executed, cause a processor to executeoperations comprising: receiving a plurality of ground-level images of abuilding object captured by a wireless capture device circumnavigating abuilding object; creating a point cloud with data points from thereceived ground-level images; selecting a plurality of vertices definingedges of at least one single planar surface within the point cloud;outlining the at least one single planar surface based on the selectedplurality of vertices; creating a simplified facade geometry for the atleast one single planar surface based on the outlined single planarsurface; correlating data points within the point cloud to the outlinedsingle planar surface; averaging a planar fit for the outlined singleplanar surface based on the correlated data points; and adjusting aposition of the simplified façade geometry based on the average planarfit.
 2. The one or more non-transitory computer readable medium of claim1 further storing instructions that, when executed, cause the processorto execute operations comprising: receiving an orthogonal image for theentire building; identifying a plurality of orthogonal vertices of theorthogonal image; correlating at least two of the plurality oforthogonal vertices with the adjusted simplified façade geometry; andconstructing a building model representing all surfaces of the entirebuilding using at least the correlated plurality of orthogonal vertices.3. The one or more non-transitory computer readable medium of claim 1further storing instructions that, when executed, cause the processor toexecute operations comprising applying a texture to the at least oneplanar surface.
 4. The one or more non-transitory computer readablemedium of claim 3, wherein the applying a texture comprises mapping atleast one of the ground-level images to the at least one planar surface.5. The one or more non-transitory computer readable medium of claim 3,wherein the applying a texture comprises using one or more of: camerainformation or ground level image information.
 6. The one or morenon-transitory computer readable medium of claim 1 further storinginstructions that, when executed, cause the processor to executeoperations comprising applying a three dimensional (3D) proximity bufferto selected data points in the point cloud to determine the at least oneplanar surface and identifying data points in the point cloud that arein close proximity to a region around each of the selected data points.7. The one or more non-transitory computer readable medium of claim 6,wherein a closest actual data point to the region is used as the datapoint to determine the at least one planar surface.